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File mechanics/src/joints/PivotJointR.hpp

File mechanics/src/joints/PivotJointR.hpp#

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class PivotJointR : public KneeJointR
#include <PivotJointR.hpp>

This class implements a pivots joint between one or two Newton/Euler Dynamical system.

Public Functions

PivotJointR()

Empty constructor.

The relation may be initialized later by setPoint, setAxis, setAbsolute, and setBasePositions.

PivotJointR(SP::SiconosVector P, SP::SiconosVector A, bool absoluteRef, SP::NewtonEulerDS d1 = SP::NewtonEulerDS(), SP::NewtonEulerDS d2 = SP::NewtonEulerDS())

Constructor based on one or two dynamical systems, a point and an axis.

Parameters:

  • d1 – first DynamicalSystem linked by the joint.

  • d2 – second DynamicalSystem linked by the joint, or NULL for absolute frame.

  • P – SiconosVector of size 3 that defines the point around which rotation is allowed.

  • A – SiconosVector of size 3 that defines the cylindrical axis.

  • absoluteRef – if true, P and A are in the absolute frame, otherwise P and A are in d1 frame.

virtual void setBasePositions(SP::SiconosVector q1, SP::SiconosVector q2 = SP::SiconosVector())

Initialize the joint constants based on the provided base positions.

Parameters:

  • q1 – A SiconosVector of size 7 indicating translation and orientation in inertial coordinates.

  • q2 – An optional SiconosVector of size 7 indicating translation and orientation; if null, the inertial frame will be considered as the second base.

inline virtual ~PivotJointR()#
inline SP::SiconosVector A()#
virtual void computeh(double time, const BlockVector &q0, SiconosVector &y)

to compute the output y = h(t,q,z) of the Relation

Parameters:

  • time – current time value

  • q – coordinates of the dynamical systems involved in the relation

  • y – the resulting vector

virtual void computehDoF(double time, const BlockVector &q0, SiconosVector &y, unsigned int axis)

Compute the vector of linear and angular positions of the free axes.

virtual void computeJachqDoF(double time, Interaction &inter, SP::BlockVector q0, SimpleMatrix &jachq, unsigned int axis)

Compute the jacobian of linear and angular DoF with respect to some q.

inline virtual unsigned int numberOfConstraints()

Get the number of constraints defined in the joint.

Returns:

the number of constraints

inline virtual unsigned int numberOfDoF()

Return the number of degrees of freedom of this joint.

Returns:

the number of degrees of freedom (DoF)

inline virtual DoF_Type typeOfDoF(unsigned int axis)

Return the type of a degree of freedom of this joint.

Returns:

the type of the degree of freedom (DoF)

Protected Functions

ACCEPT_SERIALIZATION(PivotJointR)#
void buildA1A2()#
virtual void Jd1d2(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13, double X2, double Y2, double Z2, double q20, double q21, double q22, double q23)#
virtual void Jd1(double X1, double Y1, double Z1, double q10, double q11, double q12, double q13)#
void rot2to1(double q10, double q11, double q12, double q13, double q20, double q21, double q22, double q23, double *q2to1w, double *q2to1x, double *q2to1y, double *q2to1z)#
double AscalA1(double q2to1x, double q2to1y, double q2to1z)#
double AscalA2(double q2to1x, double q2to1y, double q2to1z)#
double AscalA(double q2to1x, double q2to1y, double q2to1z)#
virtual void _normalDoF(SiconosVector &ans, const BlockVector &q0, int axis, bool absoluteRef = true)#

Return the normal of the angular DoF axis of rotation.

Parameters:

axis – must be 0

Protected Attributes

SP::SiconosVector _A#
double _A1x#
double _A1y#
double _A1z#
double _A2x#
double _A2y#
double _A2z#
double _cq2q101#
double _cq2q102#
double _cq2q103#
double _cq2q104#
double _initial_AscalA#
double _initial_AscalA1#
double _initial_AscalA2#
int _twistCount#

Cumulative number of twists around the joint relative to initial angular difference.

int _previousAngle#
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